Authors:
Ekaterina Auer
and
Wolfram Luther
Affiliation:
IIIS, University of Duisburg-Essen, Germany
Keyword(s):
Validated method, interval, Taylor model, initial value problem, guaranteed multibody modeling and simulation.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robotics and Automation
Abstract:
Multibody modeling and simulation is important in many areas of our life from a computer game to space exploration. To automatize the process for industry and research, a lot of tools were developed, among which the program MOBILE plays a considerable role. However, such tools cannot guarantee the correctness of results, for example, due to possible errors in the underlying finite precision arithmetic. To avoid such errors and simultaneously prove the correctness of results, a number of so called validated methods were developed, which include interval, affine and Taylor form based arithmetics. In this paper, we present the recently developed multibody modeling and simulation tool SMART MOBILE based on MOBILE, which is able to guarantee the correctness of results. The use of validated methods there allows us additionally to take into account the uncertainty in measurements and study its influence on simulation. We demonstrate the main concepts and usage with the help of several mecha
nical systems, for which kinematical or dynamic behavior is simulated in a validated way.
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